An Efficient Rescue System with Online Multi-Agent SLAM Framework

Abstract

A novel and an efficient rescue system with a multi-agent simultaneous localization and mapping (SLAM) framework is proposed to reduce the rescue time while rescuing the people trapped inside a burning building. In this study, the truncated signed distance (TSD) based SLAM algorithm is employed to accurately construct a two-dimensional map of the surroundings. For a new and significantly different scenario, information is gathered and the general iterative closest point method (GICP) is directly employed instead of the conventional TSD-SLAM process. Rescuers can utilize a total map created by merging individual maps, allowing them to efficiently search for victims. For online map merging, it is essential to determine the timing of when the individual maps are merged and the extent to which one map reflects the other map, via the weights. In the several experiments conducted, a light-detection and ranging system and an inertial measurement unit were integrated into a smart helmet for rescuers. The results indicated that the map was built more accurately than that obtained using the conventional TSD-SLAM. Additionally, the merged map was built more correctly by determining proper parameters for online map merging. Consequently, the accurate merged map allows rescuers to search for victims efficiently.